Template Struct JointVelocityDerivativesBackwardStep

Inheritance Relationships

Base Type

  • public pinocchio::fusion::JointUnaryVisitorBase< JointVelocityDerivativesBackwardStep< Scalar, Options, JointCollectionTpl, Matrix6xOut1, Matrix6xOut2 > > (Template Struct JointUnaryVisitorBase)

Struct Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2>
struct JointVelocityDerivativesBackwardStep : public pinocchio::fusion::JointUnaryVisitorBase<JointVelocityDerivativesBackwardStep<Scalar, Options, JointCollectionTpl, Matrix6xOut1, Matrix6xOut2>>

Public Types

typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model
typedef DataTpl<Scalar, Options, JointCollectionTpl> Data
typedef boost::fusion::vector<const Model&, const Data&, const typename Model::JointIndex&, const ReferenceFrame&, Matrix6xOut1&, Matrix6xOut2&> ArgsType

Public Static Functions

template<typename JointModel>
static inline void algo(const JointModelBase<JointModel> &jmodel, const Model &model, const Data &data, const typename Model::JointIndex &jointId, const ReferenceFrame &rf, const Eigen::MatrixBase<Matrix6xOut1> &v_partial_dq, const Eigen::MatrixBase<Matrix6xOut2> &v_partial_dv)